so_arm_100_pick_and_place

该数据集由LeRobot创建，主要用于机器人技术领域。数据集包含5个episodes，总计1048帧数据，涉及1个任务。数据以parquet格式存储，包含动作、观测状态、时间戳、帧索引、episode索引、任务索引、索引以及多个视角的图像观测（上方、侧面和夹爪视角）。动作和观测状态均为6维浮点数组，分别对应机器人的肩部平移、肩部抬升、肘部弯曲、腕部弯曲、腕部旋转和夹爪动作。图像观测包括上方视角（480x640x3）、侧面视角（480x640x3）和夹爪视角（224x224x3）的视频数据，视频文件采用mp4格式，帧率为30fps。数据集总大小为100MB（数据文件）和200MB（视频文件）。

This dataset was developed by LeRobot and is primarily designed for robotics research. It comprises 5 episodes with a total of 1048 frames, involving 1 single task. The dataset is stored in Parquet format, containing actions, observation states, timestamps, frame index, episode index, task index, and a general index, as well as multi-view image observations from top, side, and gripper viewpoints. Both actions and observation states are 6-dimensional floating-point arrays, which respectively correspond to the robot's shoulder translation, shoulder lift, elbow flexion, wrist flexion, wrist rotation, and gripper actuation. The image observations include video data from three perspectives: top-view (480x640x3), side-view (480x640x3), and gripper-view (224x224x3), with all video files saved in MP4 format at a frame rate of 30 fps. The total size of the dataset is 100 MB for the data files and 200 MB for the video files.